System and method for establishing virtual boundaries for robotic devices

• US 10,579,066 B1
• Filed: 06/08/2016
• Issued: 03/03/2020
• Est. Priority Date: 03/30/2015
• Status: Active Grant

• Current Assignee: Ai Incorprated
• Original Assignee: Ai Incorprated
• Inventors: Ebrahimi Afrouzi, Ali
• Primary Examiner(s): Holloway, Jason
• Application Number:
  US15/177,259
• Time in Patent Office: 1,364 Days
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

Methods for utilizing virtual boundaries with robotic devices are presented including: positioning a boundary component having a receiver pair to receive a first robotic device signal substantially simultaneously by each receiver of the receiver pair from a robotic device only when the robotic device is positioned along a virtual boundary; operating the robotic device to move automatically within an area co-located with the virtual boundary; transmitting the first robotic device signal by the robotic device; and receiving the first robotic device signal by the receiver pair thereby indicating that the robotic device is positioned along the virtual boundary.

Claims

1. A method for confining robotic devices to an area, the method comprising:

positioning a virtual boundary device comprising a receiver pair, each receiver of the receiver pair positioned within an aperture, such that each receiver of the receiver pair is capable of receiving a signal from a robotic device substantially simultaneously when the robotic device is positioned along a first virtual boundary, wherein the angular position of at least one aperture physically prevents the signal transmitted from the robotic device to substantially simultaneously reach both receivers of the receiver pair when the robotic device is not positioned along the first virtual boundary;

operating the robotic device to move automatically within an area co-located with the first virtual boundary;

transmitting the robotic device signal by the robotic device;

receiving the robotic device signal by each receiver of the receiver pair substantially simultaneously thereby indicating that the robotic device is positioned along the first virtual boundary;

transmitting a signal by a transmitter of the virtual boundary device indicating that the robotic device is at the first virtual boundary;

the robotic device receiving the signal transmitted by the virtual boundary device; and

,

the robotic device enacting one of a number of predetermined responses.

2. The method of claim 1, wherein the predetermined response comprises either one of:

altering the robotic device movement to avoid crossing the virtual boundary, or

the robotic device continuing navigation beyond the virtual boundary.

3. The method of claim 1, further comprising:

the virtual boundary device transmitting a first boundary signal to the robotic device upon the robotic device signal being received by a first receiver of the receiver pair of the virtual boundary device;

the virtual boundary device transmitting a second boundary signal to the robotic device upon the robotic device signal being received by a second receiver of the receiver pair of the virtual boundary device; and

,

altering the robotic device movement to avoid crossing the virtual boundary in response to receiving the first and the second boundary signals, substantially simultaneously, by the robotic device.

4. The method of claim 1, wherein the robotic device signal is only transmitted during a designated time.

5. The method of claim 1, wherein the receiver pair is configured to receive the robotic device signal only during a designated time.

6. The method of claim 3, wherein the first and the second boundary signals are transmitted only during a designated time.

7. The method of claim 1, further comprising:

the virtual boundary device comprising at least one additional receiver pair to receive the robotic device signal substantially simultaneously from the robotic device only when the robotic device is positioned along at least one additional boundary;

operating the robotic device to move automatically within an area co-located with the at least one additional virtual boundary;

transmitting the robotic device signal by the robotic device; and

receiving the robotic device signal by the at least one additional receiver pair thereby indicating that the robotic device is positioned along the at least one additional virtual boundary.

8. The method of claim 7, wherein the at least one additional receiver pair is positioned in at least one additional housing.

9. The method of claim 7, wherein two receiver pairs are pivotally coupled with one another.

10. The method of claim 1, wherein the apertures extend inwardly within the virtual boundary device and each receiver of the receiver pair is positioned at a distal end of an aperture extending inwardly.

11. The method of claim 1, wherein the apertures are angled in a range of approximately −

45 to 45 degrees.

12. The method of claim 1, wherein the robotic device signal is selected from the group consisting of:

infrared, laser, radio frequency, Wi-Fi, and sonar.

13. A method for confining robotic devices to an area, the method comprising:

positioning a virtual boundary device comprising a receiver pair, each receiver of the receiver pair positioned within a projecting member, such that each receiver of the receiver pair is capable of receiving a signal from a robotic device substantially simultaneously when the robotic device is positioned along a first virtual boundary, wherein the angular position of at least one projecting member physically prevents the signal transmitted from the robotic device to substantially simultaneously reach both receivers of the receiver pair when the robotic device is not positioned along the first virtual boundary;

operating the robotic device to move automatically within an area co-located with the first virtual boundary;

transmitting the robotic device signal by the robotic device;

receiving the robotic device signal by each receiver of the receiver pair substantially simultaneously thereby indicating that the robotic device is positioned along the first virtual boundary;

transmitting a signal by a transmitter of the virtual boundary device indicating that the robotic device is at the first virtual boundary;

the robotic device receiving the signal transmitted by the virtual boundary device; and

,

the robotic device enacting one of a number of predetermined responses.

14. The method of claim 13, wherein the predetermined response comprises either one of:

altering the robotic device movement to avoid crossing the virtual boundary, or

the robotic device continuing navigation beyond the virtual boundary.

15. The method of claim 13, further comprising:

the virtual boundary device transmitting a first boundary signal to the robotic device upon the robotic device signal being received by a first receiver of the receiver pair of the virtual boundary device;

the virtual boundary device transmitting a second boundary signal to the robotic device upon the robotic device signal being received by a second receiver of the receiver pair of the virtual boundary device; and

,

altering the robotic device movement to avoid crossing the virtual boundary in response to receiving the first and the second boundary signals, substantially simultaneously, by the robotic device.

16. The method of claim 13, wherein the receiver pair is configured to receive the robotic device signal only during a designated time.

17. The method of claim 13, further comprising:

the virtual boundary device comprising at least one additional receiver pair, each receiver of the receiver pair positioned within a projecting member, to receive the robotic device signal substantially simultaneously from the robotic device only when the robotic device is positioned along at least one additional boundary;

operating the robotic device to move automatically within an area co-located with the at least one additional virtual boundary;

transmitting the robotic device signal by the robotic device; and

receiving the robotic device signal by the at least one additional receiver pair thereby indicating that the robotic device is positioned along the at least one additional virtual boundary.

18. The method of claim 17, wherein two receiver pairs are pivotally coupled with one another.

19. The method of claim 13, wherein the projecting members extend outwardly beyond the virtual boundary device, each receiver of the receiver pair is positioned at a proximal end of a projecting member extending outwardly, and the projecting members are angled in a range of −

45 to 45 degrees.